Add skybox URI

[mabelzhang]

🎉 New feature

Summary

Add <uri> tag to <sky> tag to allow specifying skybox texture via SDF.

Test it

CI passes on tests.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.=

[nkoenig]

A few high-level notes:

1. How about calling the new SDF tag cubemap_uri?
2. You'll need to add the new tag to https://github.com/gazebosim/sdformat/blob/sdf12/sdf/1.9/scene.sdf#L13
3. You'll also need to update the Sky::Load function to load the new tag.
4. Finally, update the Sky::ToElement function to output the new element as well.

[mabelzhang]

68f1041 does the above, I think. However, the tests still fail locally for me. I thought a previous fix made them pass locally, but maybe I compiled something else. I'm very puzzled why it doesn't like the ToElement test. I added lines in Load and ToElement. Am I doing it wrong?

[codecov]

Codecov Report

Merging #1037 (caa2eef) into sdf12 (1ee33b8) will increase coverage by 20.88%.
The diff coverage is 100.00%.

@@             Coverage Diff             @@
##            sdf12    #1037       +/-   ##
===========================================
+ Coverage   65.38%   86.27%   +20.88%     
===========================================
  Files           2      109      +107     
  Lines          26    16039    +16013     
===========================================
+ Hits           17    13837    +13820     
- Misses          9     2202     +2193     

Impacted Files	Coverage Δ
src/Sky.cc	100.00% <100.00%> (ø)
src/EmbeddedSdf.cc
include/test_config.h
src/ScopedGraph.hh	98.86% <0.00%> (ø)
src/InterfaceModel.cc	100.00% <0.00%> (ø)
usd/src/usd_parser/USDJoints.cc	64.17% <0.00%> (ø)
usd/src/usd_parser/USDStage.cc	97.14% <0.00%> (ø)
src/Converter.cc	93.19% <0.00%> (ø)
usd/src/cmd/usd2sdf.cc	86.66% <0.00%> (ø)
src/Types.cc	100.00% <0.00%> (ø)
... and 102 more

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[nkoenig]

I looks like the tests pass on CI. I'll try locally to double check.

[mabelzhang]

Good to merge? Or do we need a review from the Steve/Addisu?

[chapulina]

For completeness, there are no accompanying gz-sim / gz-rendering PRs for this one, right?

[mabelzhang]

Right. I believe we only needed a new tag, and gzweb is doing the rest.

[mabelzhang]

ABI check is failing on some random stuff... readXMLStream, SDF_SHARE_PATH, SDF_VERSION_PATH 🤔

[mabelzhang]

CI passing after removing const 😅 Guess it has to be copy...

[chapulina]

Ouch, it looks like this was merged with a commit instead of a squash-merge. That messes up the branch comparison and changelog generation. No need to go back and fix it, just something to keep in mind for next time.

[mabelzhang]

Ah shoot! Sorry. Haven't done core development for a long time...